#ifndef __INTERFACE_H__
#define __INTERFACE_H__

#include "main.h"
#include "rm_motor.h"
#include "M3508.h"
#include "omni_wheel_cal.h"

typedef struct
{
	int16_t Vx;
	int16_t Vy;
	int16_t Vw;
	int16_t power_percentage;
}Interface_gimbal_to_chassis;

typedef struct
{
	int16_t I;
	int16_t V;
	int16_t power;
}Interface_power_to_chassis;

extern Interface_gimbal_to_chassis gimbal_to_chassis;
extern Interface_power_to_chassis power_to_chassis;

void interface_callback(CAN_RxHeaderTypeDef* rx_header, uint8_t* data);

#endif